...Raffaele Di Gregorio Direct position analysis (DPA) of parallel manipulators (PMs) is in general difficult to solve. Over on PMs’ topology, DPA complexity depends on the choice of the actuated joints. From an analytic point of view, the system of algebraic equations that one must solve to implement...

... and S-(nS)PU-2S P U wrists are two among these three. The position analysis of these two wrists is studied here. In particular, all the four position-analysis problems, which are necessary for implementing their path planning, are addressed and solved in closed form. Despite their different topology...

...Nicolás Rojas; Federico Thomas The exact position analysis of a planar mechanism reduces to compute the roots of its characteristic polynomial. Obtaining this polynomial almost invariably involves, as a first step, obtaining a system of equations derived from the independent kinematic loops...

...Júlia Borràs; Raffaele Di Gregorio The direct position analysis (DPA) of a manipulator is the computation of the end-effector poses (positions and orientations) compatible with assigned values of the actuated-joint variables. Assigning the actuated-joint variables corresponds to considering...